Omron NJ501-4300, Руководство пользователя

Страница: 203 / 336

5 - 5
5 Vision & Robot Integrated Simulation
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
5-3 Sim
u
lat
ion
P
ro
cedu
res
5
5-3 Simulation Procedures
Use the following flow chart to perform a Vision & Robot integrated simulation.
For details on the procedure for each operation in the flow chart, refer to the Vision & Robot Inte-
grated Simulation Startup Guide (Cat. No. Y128).
START
END
Preparation of the
environment
Verifying the takt capacity
(Simulation)
3D motion monitoring of
equipment model
Saving of a video file
Creation and configuration of
a pick-and-place equipment
model with the wizard
Before you start, have the following program and data ready.
∙ User program for the pick-and-place application
∙ Image data for the workpieces captured by the vision sensor
Use the dedicated setup wizard to set the 3D equipment model for
the pick-and-place application.
On the Sysmac Studio, perform simulations for the vision sensor and the
Robotics CPU Unit at the same time and debug the user program.
After you debug the user program, save the trace data for the equipment model.
Load the trace data that you saved and execute 3D motion monitoring.
Save the execution results of 3D motion monitoring in a video file.
You can use the Robot Additional Option to display the images from
the vision sensor side by side in the 3D Motion Monitor View.
Update of the user program
with calibration parameters On the Sysmac Studio, transcribe the calculated calibration
parameters to the user program.
Check the calibration parameters to use for coordinate transformation
among the vision sensor, conveyor, and robot coordinates. Calculation of calibration
parameters